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Type Synthesis of Novel Remote-Center-of-Motion Parallel Mechanisms.

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Title: Type Synthesis of Novel Remote-Center-of-Motion Parallel Mechanisms.
Authors: Ju, Yongjian1 juyongjian@emails.bjut.edu.cn, Liu, Jingfang1 jfliu@bjut.edu.cn
Source: Journal of Mechanical Design. Aug2026, Vol. 148 Issue 8, p1-22. 22p.
Subjects: Theory of screws, Parallel robots, Minimally invasive procedures
Abstract: Parallel mechanisms (PMs) with remote center of motion (RCM) are indispensable for minimally invasive surgery (MIS), as they minimize patient trauma, yet their design is fundamentally limited by strict geometric condition. To overcome this limitation, this article proposes a unified topology design and type synthesis framework for RCM and V-RCM PMs based on degree-of-freedom (DOF) mutation inspired by arthropod metamorphosis. By introducing extra mutated closed loop (EMC) and coupling them with a basic closed loop, DOF mutation is realized by replacing original output component with another component of EMC. Two topological types of DOF mutation are formulated according to the coupling relationship, and the constraint and motion characteristics are systematically analyzed based on screw theory. Rhombic and parallelogram EMCs are employed to realize various RCM. It is shown that constraint forces are no longer required to intersect and that the RCM point becomes independent of joint axes. Furthermore, leveraging the motion-mapping property of the parallelogram EMC, the proposed method is extended to derive the characteristics of different V-RCM with variable RCM points. The type synthesis framework for RCM and V-RCM PMs is established according to constraint screw principles. Multiple novel RCM and nine types of V-RCM PMs are synthesized. A representative 2R1T-RCM PM is analyzed to demonstrate the joint-independent RCM point and favorable motion/force transmission performance. The proposed approach provides a systematic and effective solution for the design and synthesis of RCM and V-RCM PMs. [ABSTRACT FROM AUTHOR]
Copyright of Journal of Mechanical Design is the property of American Society of Mechanical Engineers and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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Header DbId: egs
DbLabel: Engineering Source
An: 197096061
AccessLevel: 6
PubType: Academic Journal
PubTypeId: academicJournal
PreciseRelevancyScore: 0
IllustrationInfo
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  Data: Type Synthesis of Novel Remote-Center-of-Motion Parallel Mechanisms.
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  Data: <searchLink fieldCode="AR" term="%22Ju%2C+Yongjian%22">Ju, Yongjian</searchLink><relatesTo>1</relatesTo><i> juyongjian@emails.bjut.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Liu%2C+Jingfang%22">Liu, Jingfang</searchLink><relatesTo>1</relatesTo><i> jfliu@bjut.edu.cn</i>
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  Data: <searchLink fieldCode="JN" term="%22Journal+of+Mechanical+Design%22">Journal of Mechanical Design</searchLink>. Aug2026, Vol. 148 Issue 8, p1-22. 22p.
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  Data: <searchLink fieldCode="DE" term="%22Theory+of+screws%22">Theory of screws</searchLink><br /><searchLink fieldCode="DE" term="%22Parallel+robots%22">Parallel robots</searchLink><br /><searchLink fieldCode="DE" term="%22Minimally+invasive+procedures%22">Minimally invasive procedures</searchLink>
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  Label: Abstract
  Group: Ab
  Data: Parallel mechanisms (PMs) with remote center of motion (RCM) are indispensable for minimally invasive surgery (MIS), as they minimize patient trauma, yet their design is fundamentally limited by strict geometric condition. To overcome this limitation, this article proposes a unified topology design and type synthesis framework for RCM and V-RCM PMs based on degree-of-freedom (DOF) mutation inspired by arthropod metamorphosis. By introducing extra mutated closed loop (EMC) and coupling them with a basic closed loop, DOF mutation is realized by replacing original output component with another component of EMC. Two topological types of DOF mutation are formulated according to the coupling relationship, and the constraint and motion characteristics are systematically analyzed based on screw theory. Rhombic and parallelogram EMCs are employed to realize various RCM. It is shown that constraint forces are no longer required to intersect and that the RCM point becomes independent of joint axes. Furthermore, leveraging the motion-mapping property of the parallelogram EMC, the proposed method is extended to derive the characteristics of different V-RCM with variable RCM points. The type synthesis framework for RCM and V-RCM PMs is established according to constraint screw principles. Multiple novel RCM and nine types of V-RCM PMs are synthesized. A representative 2R1T-RCM PM is analyzed to demonstrate the joint-independent RCM point and favorable motion/force transmission performance. The proposed approach provides a systematic and effective solution for the design and synthesis of RCM and V-RCM PMs. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Journal of Mechanical Design is the property of American Society of Mechanical Engineers and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
PLink https://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=egs&AN=197096061
RecordInfo BibRecord:
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    Identifiers:
      – Type: doi
        Value: 10.1115/1.4071714
    Languages:
      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 22
        StartPage: 1
    Subjects:
      – SubjectFull: Theory of screws
        Type: general
      – SubjectFull: Parallel robots
        Type: general
      – SubjectFull: Minimally invasive procedures
        Type: general
    Titles:
      – TitleFull: Type Synthesis of Novel Remote-Center-of-Motion Parallel Mechanisms.
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            NameFull: Ju, Yongjian
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            NameFull: Liu, Jingfang
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            – D: 01
              M: 08
              Text: Aug2026
              Type: published
              Y: 2026
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              Value: 10500472
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              Value: 148
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              Value: 8
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            – TitleFull: Journal of Mechanical Design
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